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Nilsson, J. O.; Gupta, A. K.; Händel, P. (October 2014). "Foot-mounted inertial navigation made easy". 2014 International Conference on Indoor Positioning and Indoor Navigation (IPIN). pp. 24–29. doi:10.1109/IPIN.2014.7275464. ISBN978-1-4673-8054-6. S2CID898076.